The invention provides a blade-holding-type-based climbing and swimming integrated carrier structure and an underwater robot, blade-holding-type track structures are rotatably mounted on the left side and the right side of a main frame, and swing driving mechanisms for driving the blade-holding-type track structures to swing are mounted on the two sides of the main frame; two crawler wheels are arranged in the front-back direction of each blade-holding type crawler belt structure, the two crawler wheels are in transmission connection through a crawler belt, and a plurality of blade-holding type blades are fixed to the end face of the outer side of the crawler belt at equal intervals. The climbing and swimming integrated carrier structure adopts a modular design, various task loads can be compatible and carried, the function diversification of the underwater robot is realized, and the underwater robot can adapt to more diversified and complicated working environments; the conversion of crawling and swimming is realized through folding and overturning of the leaf-holding type crawler belt structures on the two sides, and more space can be reserved on the main frame for task load equipment.
本发明提供了一种基于衔叶式的爬游一体载体结构及水下机器人,主框架左右两侧均转动安装有衔叶式履带结构,且在主框架两侧均安装有用于驱动衔叶式履带结构摆动的摆动驱动机构,各衔叶式履带结构在前后方向上均设有两个履带轮,两个履带轮之间通过履带传动连接,在履带的外侧端面等间距固定有若干衔叶式叶片。爬游一体载体结构采用模块化设计,可兼容搭载各类任务载荷,实现水下机器人功能的多样化,使水下机器人能够适应更加多元化与复杂化的作业环境;通过两侧衔叶式履带结构的折叠翻转实现爬行与游动的转化,可以在主框架上留出更多的空间给任务荷载设备。
Blade-armature-based climbing and swimming integrated carrier structure and underwater robot
一种基于衔叶式的爬游一体载体结构及水下机器人
2023-08-08
Patent
Electronic Resource
Chinese
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